feat: add AutoBuilder.configureDistanceBased for distance-based mode#3
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Adds four overloads of configureDistanceBased that mirror the existing time-based configure(...) parameter shape: full vs Consumer-only output, with explicit end conditions vs defaults. Sets the same globals fields as configure(...) and uses FollowPathDistanceCommand as the path-following command builder. Explicitly leaves pathfindingConfigured = false since PathfindingCommand is intrinsically time-based; integrating distance-based pathfinding is a separate concern. No unit tests: RobotConfig's static initializer transitively loads WPILib NT JNI, which isn't available in pure-Java test scope. PathPlannerLib follows the same convention (no existing AutoBuilder unit tests). Verified via compile + spotless.
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Re-targeting upstream against mjansen4857/pathplanner. See replacement PR there. |
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Summary
Third and final PR in the distance-based path-following stack. Stacks on top of PR #2 (
feat/follow-path-distance-command).Adds four overloads of `AutoBuilder.configureDistanceBased(...)` that mirror the existing time-based `configure(...)` parameter shape:
Sets the same `globals` fields as `configure(...)` and builds a `pathFollowingCommandBuilder` that creates `FollowPathDistanceCommand`. Explicitly leaves `pathfindingConfigured = false` since `PathfindingCommand` is intrinsically time-based; integrating distance-based pathfinding is a separate concern.
Why
First-class API parity with `configure(...)` so users can opt into distance-based mode with one call instead of wiring `configureCustom` themselves.
Tests
None added. PathPlannerLib has zero existing `AutoBuilder` unit tests because `RobotConfig`'s static initializer transitively loads WPILib NetworkTables JNI, which isn't available in pure-Java test scope. Following the same convention; verified via compile + `spotlessJavaCheck`.
`followPath(PathPlannerPath)` and the rest of the public `AutoBuilder` surface work transparently with distance-based mode -- they all delegate to the `pathFollowingCommandBuilder` lambda which now produces `FollowPathDistanceCommand`. The `pathfindToPose` / `pathfindThenFollowPath` family correctly throws when used in distance-based mode (the standard not-configured error).
Test plan